Paper Info
Title
An optimal adaptive hybrid controller for a fourth-order under-actuated nonlinear inverted pendulum system:
Abstract
In this paper, a combination of approximate feedback linearization and sliding mode control approaches is applied to stabilize a class of fourth-order nonlinear systems. In order to improve the performance of the proposed controller, design parameters of the sliding surface are adjusted using the adaptation laws, based on the gradient descent technique. Eventually, a new version of particle swarm optimization is implemented to optimize the control gains with respect to the integral of time-weighted absolute errors as the objective function, and a constraint on the maximum control effort value. The introduced idea is put into practice for the under-actuated inverted pendulum system, and the procedure is described with details step by step. The time responses of cart position, pendulum angle, and control effort of the proposed method is then compared with those of several recently published references so as to evaluate the effectiveness of this scenario.
Year
DOI
Venue
2020
10.1177/0142331219868589
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
Keywords
DocType
Volume
Adaptation laws,sliding mode control,approximate feedback linearization,gradient descent approach,particle swarm optimization
Journal
42.0
Issue
ISSN
Citations 
2
0142-3312
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Mohammad Javad Mahmoodabadi1676.23
Hamed Khoobroo Haghbayan200.34